CN107359838A  A kind of ultrahigh speed permagnetic synchronous motor based on limited element analysis technique is without sensor rotation speed and location estimation method  Google Patents
A kind of ultrahigh speed permagnetic synchronous motor based on limited element analysis technique is without sensor rotation speed and location estimation method Download PDFInfo
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 CN107359838A CN107359838A CN201710750017.2A CN201710750017A CN107359838A CN 107359838 A CN107359838 A CN 107359838A CN 201710750017 A CN201710750017 A CN 201710750017A CN 107359838 A CN107359838 A CN 107359838A
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Classifications

 H—ELECTRICITY
 H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
 H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMOELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
 H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
 H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed

 H—ELECTRICITY
 H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
 H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMOELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
 H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
 H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
 H02P21/18—Estimation of position or speed

 H—ELECTRICITY
 H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
 H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMOELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
 H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
 H02P2203/01—Motor rotor position determination based on the detected or calculated phase inductance, e.g. for a Switched Reluctance Motor
Abstract
Invention is related to a kind of ultrahigh speed permagnetic synchronous motor based on limited element analysis technique without sensor rotation speed and location estimation method, to the threephase electricity flow valuve i detected in real time_{a}、i_{b}And i_{c}Carry out the electric current i under the phase inversion of threephase two acquisition α β coordinate systems_{α}And i_{β}；According to the electric current i under α β coordinate systems_{α}And i_{β}Inductance parameters lookup table is retrieved, obtains the electric current i_{α}And i_{β}Inductance L under corresponding d q coordinate systems_{d}And L_{q}, according to the inductance L under the d q coordinate systems of the acquisition of tabling lookup_{d}And L_{q}Calculate motor speed and rotorposition；The inductance parameters lookup table includes the electric current i under α β coordinate systems_{α}And i_{β}, and the inductance L under corresponding d q coordinate systems_{d}And L_{q}.The inventive method improves the accuracy and reliability that ultrahigh speed permagnetic synchronous motor is estimated without sensor rotation speed.
Description
Technical field
The invention belongs to ultrahigh speed permagnetic synchronous motor technical field, particularly a kind of superelevation based on limited element analysis technique
Optimization method of the fast permagnetic synchronous motor without sensor rotation speed and location estimation.
Background technology
Ultrahigh speed permagnetic synchronous motor has the advantages that small volume, rotary inertia are small, in light weight, power density is big, and
Possess excellent dynamic response characteristic, therefore, its application in fields such as industrial manufacture, AeroSpace, the energy and medical treatment more comes
It is more extensive.With continuous pursuit of the extensive use and people of ultrahigh speed permagnetic synchronous motor system to high performance motor, surpass
Highspeed permanent magnetic synchronous motor and its correlation technique have turned into a new study hotspot of electrical field.
In high performance governing system, the accurate detection or estimation of rotorposition and speed are essential.In ultrahigh speed
Speed for detecting rotor is installed in permagnetic synchronous motor system or position sensor has many drawbacks, such as：Increase
Motor size, reduce power density, add cost；Add system complexity；Super high speed motor heating also agrees to cause
Sensor is easily disturbed by outside noise and electromagnetism, or even can not normal work etc..Therefore, to realize ultrahigh speed permanent magnet synchronous electric
Machine high accuracy, the speed of high dynamic performance and position control, need to use and estimate mode without sensor rotation speed, by detecting in motor
Some electric signals, such as electric current, voltage, by appropriate signal transacting, Online Estimation goes out the rotating speed and positional information of motor.
Ultrahigh speed permagnetic synchronous motor be one nonlinear, close coupling, the complex model of highorder, in order to more in practical application
Model analysis easily is carried out to it, partial parameters change can be ignored, generally select the mathematical modeling under dq coordinate systems, it is fixed
Sub voltage equation is expressed as
Stator magnetic linkage equation is
Wherein, L_{d}、L_{q}、R_{s}And ψ_{f}Definite value is generally used as, and inductance parameters are to realizing that ultrahigh speed permanent magnetism is same in speed estimate
The high accuracy of step motor, high dynamic performance control have considerable influence, therefore need to consider that corresponding dq is sat during current of electric change
The lower inductance L of mark system_{d}And L_{q}Change.
The content of the invention
It is an object of the invention to propose a kind of ultrahigh speed permagnetic synchronous motor based on limited element analysis technique without sensor
The optimization method of rotating speed and location estimation, improves accuracy that ultrahigh speed permagnetic synchronous motor estimated without sensor rotation speed and can
It is final to improve motor operation performance by property.
The technical solution for realizing the object of the invention is：A kind of ultrahigh speed permanent magnet synchronous electric based on limited element analysis technique
Optimization method of the machine without sensor rotation speed and location estimation, for ultrahigh speed permagnetic synchronous motor without sensor rotation speed and position
Estimation, it is characterised in that to the threephase electricity flow valuve i detected in real time_{a}、i_{b}And i_{c}Progress threephase two phase inversion (3/2 conversion) acquisition α
Electric current i under β coordinate systems_{α}And i_{β}；According to the electric current i under alphabeta coordinate system_{α}And i_{β}Inductance parameters lookup table is retrieved, obtains the electricity
Flow i_{α}And i_{β}Inductance L under corresponding dq coordinate systems_{d}And L_{q}, according to the inductance L under the dq coordinate systems of the acquisition of tabling lookup_{d}With
L_{q}Calculate motor speed and rotorposition；The inductance parameters lookup table includes the electric current i under alphabeta coordinate system_{α}And i_{β}, with
And the inductance L under corresponding dq coordinate systems_{d}And L_{q}。
Further, the process of acquisition inductance parameters lookup table is：
Step 1, using finite simulation element analysis software Ansys, ultrahigh speed permagnetic synchronous motor is analyzed, surpassed
The vector magnetic potential A of each finite elements of highspeed permanent magnetic synchronous motor；
The vector magnetic potential A of step 2, each finite elements obtained according to step 1, calculate and obtain ultrahigh speed permagnetic synchronous motor
Stator magnetic linkage ψ under dq coordinate systems_{d}And ψ_{q}；
Step 3, by the electric current i under dq coordinate systems_{d}And i_{q}Span be taken as [ 2i_{n},2i_{n}], wherein i_{n}For specified electricity
Flow, the stator magnetic linkage ψ under the dq coordinate systems calculated according to step 2_{d}And ψ_{q}, it is corresponding to calculate phase induced current using magnetic linkage current method
Dq coordinate systems under inductance L_{d}And L_{q}；
Inductance L under step 4, the dq coordinate systems according to obtained by step 3_{d}And L_{q}, make on ultrahigh speed permanent magnet synchronous electric
Machine electric current i under alphabeta coordinate system_{α}And i_{β}Inductance parameters lookup table.
Further, in step 1, following work is completed using finite simulation element analysis software Ansys：
Step 11, ultrahigh speed permanent magnetic synchronous motor structure sized data is determined, establishes its geometrical model；
Step 12, select the cell type of ultrahigh speed permagnetic synchronous motor and define its material properties, definition material attribute
When, its BH magnetization curve can be looked into according to material type, wherein, H is magnetic field intensity, and B is magnetic induction intensity, takes the point on curve,
Main Menu in finite simulation element analysis software Ansys>Preprocessor>Material Props>Material
Models>Electromagnetics>BH curve interfaces, input the coordinate value (H, B) of these points, you can form respective material
Magnetization curve；
Step 13, suitable element density, grid division are selected for the geometrical model of ultrahigh speed permagnetic synchronous motor；
Step 14, according to the corresponding boundary condition of ultrahigh speed permagnetic synchronous motor and load, its each finite elements is calculated
Vector magnetic potential A.
Further, it is specially in step 2：
Step 21, the magnetic linkage ψ of threephase windings interlinkage is calculated according to vector magnetic potential A_{a}、ψ_{b}And ψ_{c}；
Step 22, timing is calculated and obtains now ultrahigh speed permagnetic synchronous motor in rotor d axles and stator winding+A axles
Magnetic linkage ψ under dq coordinate systems_{d}And ψ_{q}, computational methods are shown below,
Wherein：ψ_{α}And ψ_{β}The magnetic linkage of α axles and β axles under twophase rest frame is represented respectively.
Further, the inductance L of the dq axles under corresponding electric current is calculated in step 3_{d}And L_{q}Method be shown below,
Wherein, ψ_{f}For permanent magnet flux linkage.
Further, in inductance parameters lookup table, i is taken_{α}≈i_{d}。
Compared with prior art, its remarkable advantage is the present invention：
(1) present invention obtains dq axle stator magnetic linkages ψ using limited element analysis technique_{d}And ψ_{q}, dq is calculated using magnetic linkage current method
Inductance value L under coordinate system_{d}And L_{q}And electric current i under alphabeta coordinate system is obtained using lookup table_{α}And i_{β}Corresponding inductance parameters, subtract
Computation complexity is lacked, has saved and calculate time, simple, convenient implementation；
(2) change of present invention inductance parameters under dq coordinate systems when considering curent change, to the threephase electricity detected in real time
Flow valuve i_{a}、i_{b}And i_{c}Carry out 3/2 conversion and obtain the electric current i under alphabeta coordinate system_{α}And i_{β}, inductance parameters lookup table is retrieved accordingly, so as to
The motor inductances value that realtime update needs to use in estimating without sensor rotation speed, improve the accuracy of speed estimate；
(3) the applicable ultrahigh speed permagnetic synchronous motor of the present invention solves ultrahigh speed permanent magnetism without sensor rotation speed method of estimation
The problem of synchronous motor encoder installation difficulty, easy failure, poor reliability, improve the stabilization of ultrahigh speed permagnetic synchronous motor
Property.
Brief description of the drawings
Fig. 1 is to be related in the present invention without sensor ultrahigh speed control system for permanentmagnet synchronous motor schematic diagram.
Fig. 2 is the schematic flow sheet that inductance parameters lookup table is made in the present invention.
Embodiment
It is readily appreciated that, according to technical scheme, in the case where not changing the connotation of the present invention, this area
Those skilled in the art can imagine the ultrahigh speed permagnetic synchronous motor based on limited element analysis technique of the invention and turn without sensor
The numerous embodiments of the optimization method of speed and location estimation.Therefore, detailed description below and accompanying drawing are only to the present invention
Technical scheme exemplary illustration, and be not to be construed as the whole of the present invention or be considered as limitation to technical solution of the present invention
Or limit.
With reference to Fig. 1 and Fig. 2, this hair is based on ultrahigh speed permagnetic synchronous motor of the limited element analysis technique based on limited element analysis technique
Optimization method without sensor rotation speed and location estimation can be applied to ultrahigh speed permanent magnet synchronous motor vector control system, in vector
On the basis of control, using ultrahigh speed permagnetic synchronous motor without sensor rotation speed algorithm for estimating, to the threephase current detected in real time
Value i_{a}、i_{b}And i_{c}Carry out 3/2 conversion and obtain the electric current i under alphabeta coordinate system_{α}And i_{β}, inductance parameters lookup table is retrieved accordingly, so as to more
Newly without the motor inductances value in sensor rotation speed algorithm for estimating, make speed estimate algorithm more accurate, finally realize motor speed
High accuracy, high dynamic performance control.
Obtain inductance parameters lookup table process be：
Step 1, using finite simulation element analysis software Ansys, to dividing without sensor ultrahigh speed permagnetic synchronous motor
Analysis, obtains the vector magnetic potential A of each finite elements of ultrahigh speed permagnetic synchronous motor.The specifically used Finite Element Simulation Analysis of this step is soft
Part Ansys completes following work：
Step 11, ultrahigh speed permanent magnetic synchronous motor structure sized data is determined, establishes its geometrical model；
Step 12, select the cell type of ultrahigh speed permagnetic synchronous motor and define its material properties, definition material attribute
When, its BH magnetization curve (wherein, H is magnetic field intensity, and B is magnetic induction intensity) can be looked into according to material type, is taken on curve
Point, the Main Menu in finite simulation element analysis software Ansys>Preprocessor>Material Props>
Material Models>Electromagnetics>BH curve interfaces, input the coordinate value (H, B) of these points, you can shape
Into the magnetization curve of respective material；
Step 13, suitable element density, grid division are selected for the geometrical model of ultrahigh speed permagnetic synchronous motor；
Step 14, according to the corresponding boundary condition of ultrahigh speed permagnetic synchronous motor and load, its each finite elements is calculated
Vector magnetic potential A.
The vector magnetic potential A of step 2, each finite elements obtained according to step 1, ultrahigh speed permagnetic synchronous motor is calculated in d
Stator magnetic linkage ψ under q coordinate systems_{d}And ψ_{q}.Specially：
Step 21, the magnetic linkage ψ of threephase windings interlinkage is calculated according to vector magnetic potential A_{a}、ψ_{b}And ψ_{c}.The magnetic to be interlinked with A phase windings
Chain ψ_{a}Exemplified by, its expression formula is：
Wherein：n_{A}And n_{X}Respectively A phase windings water conservancy diversion region " inflow " and " outflow " territory element number, S_{A}And S_{X}Respectively
For corresponding " inflow " and the unit gross area in " outflow " region, i is element number, A_{Zi}For three node magnetic potentials of No. ith unit
Arithmetic mean of instantaneous value, S_{ei}For No. ith cellar area；
Step 22, timing is calculated and obtains now ultrahigh speed permagnetic synchronous motor in rotor d axles and stator winding+A axles
Magnetic linkage ψ under dq coordinate systems_{d}And ψ_{q}, its expression formula is：
Wherein：ψ_{α}And ψ_{β}The magnetic linkage of α axles and β axles under twophase rest frame is represented respectively.
Stator magnetic linkage ψ under step 3, the dq coordinate systems calculated according to step 2_{d}And ψ_{q}, by dq shaft currents i_{d}And i_{q}'s
Span is taken as [ 2i_{n},2i_{n}], wherein i_{n}For rated current, the dq axles under phase induced current are calculated using magnetic linkage current method
Inductance L_{d}And L_{q}, its expression formula is：
Wherein, ψ_{f}For permanent magnet flux linkage；
Inductance L under step 4, the dq coordinate systems according to obtained by step 3_{d}And L_{q}, make on ultrahigh speed permanent magnet synchronous electric
Machine electric current i under alphabeta coordinate system_{α}And i_{β}Inductance parameters lookup table, inductance parameters lookup table include alphabeta coordinate system under electric current i_{α}
And i_{β}, and the inductance L under corresponding dq coordinate systems_{d}And L_{q}, and i_{α}≈i_{d}。
When estimating the rotorposition of motor speed and motor, the ultrahigh speed permanent magnet synchronous electric in dynamic running process is detected
Machine A, B, C threephase electricity flow valuve i_{a}、i_{b}And i_{c}, the phase inversion of threephase two (3/2 conversion) is carried out to it and obtains the electric current under alphabeta coordinate system
i_{α}And i_{β}, according to gained electric current i_{α}And i_{β}Inductance parameters lookup table is retrieved, finds electric current i_{α}And i_{β}Inductance under corresponding dq coordinate systems
L_{d}And L_{q}, the inductance value L under realtime update motor dq coordinate systems_{d}And L_{q}, inductance value L is obtained using tabling lookup_{d}And L_{q}It is input to no biography
In sensor speed estimate module, so as to calculate the motor speed at corresponding moment and the rotorposition of motor.Wherein, 3/2 conversion
Expression formula be：
Claims (5)
1. a kind of ultrahigh speed permagnetic synchronous motor based on limited element analysis technique is used for without sensor rotation speed and location estimation method
Optimize estimation of the ultrahigh speed permagnetic synchronous motor without sensor rotation speed and position, it is characterised in that to the threephase electricity detected in real time
Flow valuve i_{a}、i_{b}And i_{c}Carry out the electric current i under the phase inversion of threephase two acquisition alphabeta coordinate system_{α}And i_{β}；According to the electric current under alphabeta coordinate system
i_{α}And i_{β}Inductance parameters lookup table is retrieved, obtains the electric current i_{α}And i_{β}Inductance L under corresponding dq coordinate systems_{d}And L_{q}, according to
Inductance L under the dq coordinate systems of the acquisition of tabling lookup_{d}And L_{q}Calculate motor speed and rotorposition；
The inductance parameters lookup table includes the electric current i under alphabeta coordinate system_{α}And i_{β}, and the inductance under corresponding dq coordinate systems
L_{d}And L_{q}。
2. method as claimed in claim 1, it is characterised in that obtain inductance parameters lookup table process be：
Step 1, using finite simulation element analysis software Ansys, ultrahigh speed permagnetic synchronous motor is analyzed, obtains ultrahigh speed
The vector magnetic potential A of each finite elements of permagnetic synchronous motor；
The vector magnetic potential A of step 2, each finite elements obtained according to step 1, calculate and obtain ultrahigh speed permagnetic synchronous motor in d
Stator magnetic linkage ψ under q coordinate systems_{d}And ψ_{q}；
Step 3, by the electric current i under dq coordinate systems_{d}And i_{q}Span be taken as [ 2i_{n},2i_{n}], wherein i_{n}For rated current, root
Stator magnetic linkage ψ under the dq coordinate systems calculated according to step 2_{d}And ψ_{q}, dq corresponding to phase induced current is calculated using magnetic linkage current method
Inductance L under coordinate system_{d}And L_{q}；
Inductance L under step 4, the dq coordinate systems according to obtained by step 3_{d}And L_{q}, make and exist on ultrahigh speed permagnetic synchronous motor
Electric current i under alphabeta coordinate system_{α}And i_{β}Inductance parameters lookup table.
3. method as claimed in claim 2, it is characterised in that step 2 is specially：
Step 21, the magnetic linkage ψ of threephase windings interlinkage is calculated according to vector magnetic potential A_{a}、ψ_{b}And ψ_{c}；
Step 22, in rotor d axles and stator winding+A axles to timing, calculate obtain now ultrahigh speed permagnetic synchronous motor in dq
Magnetic linkage ψ under coordinate system_{d}And ψ_{q}, computational methods are shown below,
Wherein：ψ_{α}And ψ_{β}The magnetic linkage of α axles and β axles under twophase rest frame is represented respectively.
4. method as claimed in claim 3, it is characterised in that the inductance L of the dq axles under corresponding electric current is calculated in step 3_{d}And L_{q}
Method be shown below,
<mrow>
<msub>
<mi>L</mi>
<mi>d</mi>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>&psi;</mi>
<mi>d</mi>
</msub>
<mo></mo>
<msub>
<mi>&psi;</mi>
<mi>f</mi>
</msub>
</mrow>
<msub>
<mi>i</mi>
<mi>d</mi>
</msub>
</mfrac>
</mrow>
<mrow>
<msub>
<mi>L</mi>
<mi>q</mi>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>&psi;</mi>
<mi>q</mi>
</msub>
<msub>
<mi>i</mi>
<mi>q</mi>
</msub>
</mfrac>
</mrow>
Wherein, ψ_{f}For permanent magnet flux linkage.
5. method as claimed in claim 4, it is characterised in that in inductance parameters lookup table, take i_{α}≈i_{d}。
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CN108631663A (en) *  20180417  20181009  南京航空航天大学  A method of analyzing accurately and quickly magneto electromagnetic performance 
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CN101436843A (en) *  20081222  20090520  哈尔滨工业大学  Method for detecting rotor position in non position sensor switch magnetic resistance motor 
CN101697469A (en) *  20091028  20100421  南京航空航天大学  Method for controlling positionless sensor of bearingless switched reluctance motor 
CN103329423A (en) *  20110119  20130925  德克萨斯仪器股份有限公司  Initial position detection for a sensorless, brushless dc motor 
CN105703680A (en) *  20160314  20160622  厦门理工学院  Pulse injectionbased threephase switched reluctance motor position sensorless control method 
CN106712627A (en) *  20170122  20170524  北京新能源汽车股份有限公司  Acquisition method and acquisition device for key parameters of permanentmagnet synchronous motor, as well as electric vehicle 
CN107070344A (en) *  20170401  20170818  东南大学  A kind of evaluation method of permanent magnetic brushless armature winding inductance value 
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CN108631663A (en) *  20180417  20181009  南京航空航天大学  A method of analyzing accurately and quickly magneto electromagnetic performance 
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